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directory_structure.html
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<!DOCTYPE html>
<html lang="en-US">
<head>
<meta name="msapplication-config" content="/browserconfig.xml"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta charset="utf-8"/>
<link rel="apple-touch-icon" type="image/png" href="/apple-touch-icon.png"/>
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<link rel="mask-icon" type="image/svg+xml" href="/mask-icon.svg" color="#990000"/>
<link rel="shortcut icon" type="image/png" href="/favicon.png"/>
<title>Drake: Directory Structure</title>
<meta
name="description"
content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
analysis.
"/>
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<h1>Directory Structure</h1>
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<article class="markdown-body">
<p>The current directory structure in Drake is organized to (1) group functional
components, (2) limit dependencies, and (3) prevent circular dependencies.</p>
<h1 id="dev-directories">Dev Directories</h1>
<p>All code in Drake must adhere to the code standards described in the notes
<a href="/developers.html#developer-notes">For Developers</a> and must be covered by
tests, unless the code lives in a subdirectory named <code class="language-plaintext highlighter-rouge">dev</code>.</p>
<p>To promote rapid development of research ideas, experimental code may be placed
in a subdirectory named <code class="language-plaintext highlighter-rouge">dev</code>. We do not enforce code standards nor test
coverage within <code class="language-plaintext highlighter-rouge">dev</code> directories. For pull requests that affect only
<code class="language-plaintext highlighter-rouge">dev</code> directories, one feature review is sufficient; platform review is not
required. If build or test targets in <code class="language-plaintext highlighter-rouge">dev</code> directories break, the response
from the on-call build cop will be to disable the offending targets.</p>
<p>The <code class="language-plaintext highlighter-rouge">BUILD.bazel</code> file for <code class="language-plaintext highlighter-rouge">dev</code> directories must live within the directory
itself, not a parent directory. (For example, <code class="language-plaintext highlighter-rouge">foo/BUILD.bazel</code> must <strong>not</strong>
say <code class="language-plaintext highlighter-rouge">srcs = ["dev/bar.cc"],</code>; instead, <code class="language-plaintext highlighter-rouge">foo/dev/BUILD.bazel</code> must exist and
must say <code class="language-plaintext highlighter-rouge">srcs = ["bar.cc"],</code>.) This ensures that all <code class="language-plaintext highlighter-rouge">dev</code> code has a
package name (<code class="language-plaintext highlighter-rouge">//foo/dev</code>) that clearly denotes it as such.</p>
<h1 id="controlling-dependencies">Controlling Dependencies</h1>
<p>We would like to avoid circular dependencies in the source code tree. For
example, some code in <code class="language-plaintext highlighter-rouge">drake/systems</code> depends on code in <code class="language-plaintext highlighter-rouge">drake/solvers</code>, so
code in <code class="language-plaintext highlighter-rouge">drake/solvers</code> should <em>not</em> depend on <code class="language-plaintext highlighter-rouge">drake/systems</code>.</p>
<p>The <code class="language-plaintext highlighter-rouge">drake/examples</code> directories are logically after all of the core libraries
in <code class="language-plaintext highlighter-rouge">drake</code>. <code class="language-plaintext highlighter-rouge">test</code> directories located throughout the code are logically
last in the dependency tree – they are allowed to depend on any of the other
directories. For example, <code class="language-plaintext highlighter-rouge">test</code> code <strong>is</strong> allowed to use models/code from
the <code class="language-plaintext highlighter-rouge">examples</code> directories to test core functionality, as long as that
dependency is explicitly declared in the build system rules for that test.</p>
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